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노면정보 인식 정확도 향상을 위한 LIDAR 센서 기반 차량 피치 각 추정 기술에 관한 연구
이용기(Yongki Lee),문병찬(Byungchan Moon),강태완(Taewan Kang),소민우(Minwoo Soh),박기홍(Kihong Park) 한국자동차공학회 2016 한국자동차공학회 부문종합 학술대회 Vol.2016 No.5
According to recent increases in ongoing consumer interest for vehicle ride comfort and driving performance improvement, the research and development of the automotive industry are being actively conducted to satisfy them. And the chassis control system using preview road profile have been developed by car manufacturers. It is important to measure the exact preview road using environment sensors. But, changing the geometry of the vehicle, such as roll and pitch motion is the interference to extract an accurate preview road. So, In this paper, based on the Kabsch algorithm and SVD(Singular vector decomposition) technique, the pitch estimator of the vehicle was developed to improve the preview road recognition accuracy by using LIDAR sensor. Also, Through MATLAB/Simulink and virtual sensor simulation tool, it was performed the pitch estimation algorithm in various verification scenarios.